Event-Triggered Bipartite Consensus Tracking and Vibration Control of Flexible Timoshenko Manipulators Under Time-Varying Actuator Faults  

作　　者：Xiangqian Yao Hao Sun Zhijia Zhao Yu Liu 

机构地区：[1]School of Automation Science and Engineering,South China University of Technology,Guangzhou 510640,China [2]Yongjiang Laboratory,Ningbo 315202 [3]School of Astronautics,Harbin Institute of Technology,Harbin 150001,China [4]School of Mechanical and Electrical Engineering,Guangzhou University,Guangzhou 510006,China

出　　处：《IEEE/CAA Journal of Automatica Sinica》2024年第5期1190-1201,共12页自动化学报（英文版）

基　　金：supported in part by the National Key R&D Program of China(2021YFB3202200);the Natural Science Foundation of China(62203141);the Guangdong Basic and Applied Basic Research Foundation(2021B1515120017)。

摘　　要：For bipartite angle consensus tracking and vibration suppression of multiple Timoshenko manipulator systems with time-varying actuator faults,parameter and modeling uncertainties,and unknown disturbances,a novel distributed boundary event-triggered control strategy is proposed in this work.In contrast to the earlier findings,time-varying consensus tracking and actuator defects are taken into account simultaneously.In addition,the constructed event-triggered control mechanism can achieve a more flexible design because it is not required to satisfy the input-to-state condition.To achieve the control objectives,some new integral control variables are given by using back-stepping technique and boundary control.Moreover,adaptive neural networks are applied to estimate system uncertainties.With the proposed event-triggered scheme,control inputs can reduce unnecessary updates.Besides,tracking errors and vibration states of the closed-looped network can be exponentially convergent into some small fields,and Zeno behaviors can be excluded.At last,some simulation examples are given to state the effectiveness of the control algorithms.

关 键 词：VIBRATION satisfy BIPARTITE 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]